US6999006B2 - Rotation position detecting device - Google Patents

Rotation position detecting device Download PDF

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US6999006B2
US6999006B2 US10/988,515 US98851504A US6999006B2 US 6999006 B2 US6999006 B2 US 6999006B2 US 98851504 A US98851504 A US 98851504A US 6999006 B2 US6999006 B2 US 6999006B2
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level
signal
counter
down command
counted
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US20050177338A1 (en
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Hiroyuki Takeuchi
Takuya Harada
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Denso Corp
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Denso Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
    • G01D5/2457—Incremental encoders having reference marks

Definitions

  • the present invention relates to a rotation position detecting device that detects a reference position of a rotating object by means of a rotation signal generated in synchronism with rotation of the rotating object.
  • U.S. Pat. No. 5,264,844 (or its one of basic Japanese patent applications JP-A-Hei 5-66105) discloses a rotation position detecting device that counts the number of clock signals to calculate the cycle time of the pulses of a rotation angle signal.
  • Such a rotation detecting device includes an up-down counter and a f/K frequency dividing circuit, in which a 1 ⁇ 3 frequency dividing circuit and a 1 ⁇ 2 frequency dividing circuit are combined to provide a down-clock.
  • the above-stated rotation position detecting device measures the cycle time of pulses by counting the number of clock signals, from which the down-clock counts down.
  • the reference position can be detected when a borrow signal appears.
  • 5,264,844 (or its another basic Japanese patent application JP-A-Hei 5-71909) also discloses a rotation position detecting device as shown in FIGS. 10 , 11 , 12 A and 12 B.
  • a frequency dividing circuit 4 divides an angle signal NE that is sent from a rotation sensor 2 via a wave-shaping circuit 3 into a half to provide a pair of up-down command signals SUD 1 and SUD 2 .
  • a pair of up-down counters 5 and 6 counts up or counts down alternately according to the up-down command signals SUD 1 and SUD 2 at each cycle time of the angle signal NE.
  • the direction of counting up or down by the up-down counter 5 is opposite to the direction of counting up or down by the up-down counter 6 .
  • Each up-down counter counts up according to an up-clock signal CLKU that is provided by a clock circuit 7 and counts down according to a down-clock signal CLKD that is provided by a 1/K frequency dividing circuit 8 .
  • the clock signals applied to the up-down counters 5 , 6 are controlled by selectors 9 , 10 .
  • edge detecting circuits 11 , 12 respectively detect an up-edge of the up-down command signals SUD 1 , SUD 2 , the counted values of the up-down counters 5 , 6 are reset to 0.
  • the down clock signal CLKD is formed by dividing the up clock signal CLKU into 1/K according to the number of non-toothed portions, the frequency of the down clock signal CLKD becomes lower than the up clock signal CLKU. Therefore, a half-cycle shift of the down clock signal CLKD becomes K times as long as a half cycle of the up clock signal CLKU. If the shift of the detection signal BO becomes larger, the frequency of the clock signal has to be increased, resulting in increasing power of the clock circuit.
  • An object of the present invention is to provide an improved rotation position detecting device that can accurately measure a non-pulse portion of an angular signal.
  • a rotation position detecting device includes a first counter for counting up a clock signal an up-down command signal changes from a first level to a second level to reset and subsequently counting down the clock signal when the up-down command signal changes from the second level to the first level, a second counter for counting up the clock signal when the up-down command signal changes from the second level to the first level to reset and subsequently counting down the clock signal when the up-down command signal changes from the first level to the second level, a first processing circuit for providing a first reference value P 1 that is provided by subtracting a product N 1 ⁇ K of the counted value N 1 of the first counter when the up-down command signal changes from the second level to the first level and a constant K that is a value larger than 1 and corresponds to the non-pulse portion from a counted value N 1 counted by the first counter, a second processing circuit for providing a second reference value P 2 that is provided by subtracting a product of the counted value N 2
  • the counters count up or down clock pulses of a common clock. Therefore, shift in the first and second detection signals is limited within one cycle of the clock signal, so that accuracy of the detection signal can be improved. Because the constant K is larger than 1, a sufficient time (within one clock cycle) for the processing circuits to calculate can be provided until the counted value is counted down to an initial value (zero). Therefore, the processing circuits can be provided in either hardware or software.
  • a rotation position detecting device includes substantially the same components as the above.
  • a first processing circuit provides a first reference value P 1 that is a product of the counted value (N 2 ) of the second counter when the up-down command signal changes from the first level to the second level and a constant K that corresponds to the non-pulse portion
  • a second processing circuit for providing a second reference value P 2 that is a product of the counted value (N 1 ) of the first counter when the up-down command signal changes from the second level to the first level and the constant K.
  • This device is also as effective as the above device.
  • the rotation position detecting device includes a first latch circuit for latching the counted value of the first counter when the up-down command signal changes from the second level to the first level and a second latch circuit for latching the counted value of the second counter when the up-down command signal changes from the first level to the second level.
  • the rotation position detecting device further includes means for detecting one of up-edge and down edge of the angular signal in synchronism with the clock pulse and generating a first edge signal when an edge is detected while the up-down command signal is in the first level and a second edge signal when an edge is detected while the up-down command signal is in the second level.
  • the following operations are carried out: the first counter is reset by the second edge signal; the second counter is reset by the first edge signal; the first latch circuit latches the counted value of the first counter by the first edge signal; and the second latch circuit latches the counted value of the second counter by the second edge signal.
  • a rotation position detecting device includes means for generating an angular signal having pulses the cycle period of which is even or equal when a rotating object rotates at a constant rotation speed and a non-pulse portion which corresponds to a reference position, a clock pulse generating circuit which generates pulses at equal intervals, a counter for counting the pulses of the clock signal from a reset value when the angular signal changes from a first level to a second level, a processing circuit for providing a reference value P by multiplying a counted value N of the counter when the angular signal changes from the first level to the second level and a constant K that corresponds to the non-pulse portion and means for generating a detection signal when the counted number of the counter becomes larger than the reference value.
  • This feature also brings about similar effects as described with respect to the first and the second features.
  • the rotation position detecting device of the third main feature further includes a latch circuit for latching the counted value of the counter when the angular signal changes from the first level to the second level.
  • the rotation position detecting device of the third main feature further includes a gate circuit which masks the detection signal outputted by the comparator as long as the processing circuit is calculating the reference value.
  • the angular signal of the rotation position detecting device of the third main feature synchronizes with rotation of an internal combustion engine.
  • FIG. 1 is a block diagram illustrating an electrical structure of a rotation position detecting device according to the first embodiment of the invention
  • FIGS. 2A–2R show wave shapes that respectively appear at various portions of the electrical structure illustrated in FIG. 1 ;
  • FIGS. 3A–3D show the wave shapes shown in FIGS. 2A , 2 F, 2 N and 2 R for a longer period of time;
  • FIG. 4 is a block diagram illustrating an electric structure of a rotation position detecting device according to the second embodiment of the invention.
  • FIGS. 5A–5R show wave shapes that respectively appear at various portions of the electrical structure illustrated in FIG. 4 ;
  • FIGS. 6A–6D show the wave shapes shown in FIGS. 5A , 5 F, 5 N and 5 R for a longer period of time;
  • FIG. 7 is a block diagram illustrating an electric structure of a rotation position detecting device according to the third embodiment of the invention.
  • FIGS. 8A–8G show wave shapes respectively appear at various portions of the electrical structure illustrated in FIG. 7 ;
  • FIGS. 9A–9C show the wave shapes shown in FIGS. 8A , 8 D and 8 G for a longer period of time
  • FIG. 10 is a block diagram illustrating an electric structure of a prior art rotation position detecting device
  • FIGS. 11A–11D show wave shapes respectively appear at various portions of the electrical structure illustrated in FIG. 10 ;
  • FIGS. 12A–12E show a relationship in timing between a detection signal and an up-down command signal provided in the electrical structure illustrated in FIG. 10 ;
  • FIGS. 13A–13D show a relationship in timing between a detection signal and an up-down command signal provided in the electrical structure illustrated in FIG. 10 .
  • the rotation position detecting device 21 includes an angular signal generating unit 22 , a wave shaping circuit 26 , a frequency dividing circuit 27 , a clock signal generating circuit or clock 28 , an edge signal generating circuit 29 , a pair of counters 36 , 37 , a apir of latch circuits 38 , 39 , a pair of processing circuits 40 , 41 , a constant value holding circuit 42 , comparators 43 , 44 , AND gates 45 , 46 and an OR gate 47 .
  • the rotation position detecting device 21 detects a reference position from a signal NE that is sent from the angular signal generating unit 22 .
  • the angular signal generating unit 22 generates an angular signal that corresponds to a rotation position of a crank or cam shaft 23 , which is an object to be detected.
  • the angular signal generating unit 22 includes a rotor 24 that has thirty four teeth 24 a on its outer periphery at 10-degree-angle intervals, a rotation sensor 25 that is made up of such as an electromagnetic pick-up sensor, a hall element or a photo sensor and a wave shaping circuit 26 .
  • the rotor 24 is fixed to the crank or cam shaft 24 .
  • the above-stated non-tooth portion 24 b has two tooth-pitches formed between the teeth 24 a on the outer periphery of the rotor 24 .
  • the rotation sensor 25 is disposed at a portion that confronts the teeth 24 a and the non-tooth portion 24 a.
  • the output signal of the rotation sensor 25 is sent to the wave shaping circuit 26 to provide the angular signal NE.
  • the output terminal of the wave shaping circuit 26 is connected to a frequency dividing circuit 27 , which is composed of a D flip flop circuit whose Q terminal and D terminal are connected.
  • the frequency dividing circuit 27 divides the frequency of the angular signal into a half to provide an up-down command signal SUD.
  • the clock 28 provides a clock signal CLK having a constant cycle period.
  • the edge signal generating circuit 29 detects each up-edge of the angular signal NE and provides edge signals SE 1 –SE 4 based on selected up-edges.
  • the edge signal generating circuit 29 includes an edge detecting circuit 30 and AND gates 31 – 34 .
  • the edge detecting circuit 30 detects up-edges of the angular signal SE in synchronism with the clock signal CLK to provide an edge signal SEG 0 whose level transitorily becomes H.
  • the AND gate 31 has input terminals for the up-down command signal SUD and the edge signal SEG 0 and provides an edge signal SE 1 that is the logical product of the two signals.
  • the edge signal SE 1 becomes a latch signal for the latch circuit 38 .
  • the AND gate 32 has input terminals for the up-down command signal SUD and the edge signal SEG 0 and provides an edge signal SE 2 that is the logical product of the two signals.
  • the edge signal SE 2 becomes a reset signal or an initializing signal for the counter 36 .
  • the AND gate 33 has input terminals for the up-down command signal SUD and the edge signal SEG 0 and provides an edge signal SE 3 that is the logical product of the two signals.
  • the edge signal SE 3 becomes a latch signal for the latch circuit 39 .
  • the AND gate 34 has input terminals for the inversed signal of the up-down command signal SUD inversed by an inverter 35 and the edge signal SEG 0 and provides an edge signal SE 4 that is the logical product of the two signals.
  • the edge signal SE 4 becomes a reset signal or an initializing signal for the counter 37 .
  • the edge signals SE 1 , SE 4 become H level when the up-down command signal SUD changes from H level to L level, while the edge signals SE 2 , SE 4 become H level when the up-down command signal SUD changes from L level to H level.
  • the counters 36 , 37 respectively have an up-down command terminal U/DB and a clock terminal CK.
  • the up-down command terminal U/DB of the counters 36 , 37 becomes L level
  • the counters 36 , 37 count down the clock signal CLK that is inputted to the respective terminals CK.
  • the up-down command terminal U/DB of the counters 36 , 37 becomes H level
  • the counters 36 , 37 count up the clock signal CLK that is inputted to the respective terminals CK.
  • the counted values of the counters 36 , 37 are respectively reset to 0 or initialized by the edge signals SE 1 and SE 4 .
  • the latch circuits 38 , 39 respectively latch the counted values of the counters 36 , 37 when the edge signals SE 1 , SE 2 respectively become H level.
  • Each of the processing circuits 40 , 41 is composed of logical circuits that operate in synchronism with the clock signal CLK.
  • the constant value holding circuit 42 is composed of registers and memories.
  • the processor circuit 40 provides a masking signal SM 1 that keeps L level only for a period from time at which the edge signal SE 1 changes to H level until the reference value P 1 has been calculated.
  • the processor circuit 41 provides a masking signal SM 2 that keeps L level only for a period from time at which the edge signal SE 3 changes to H level until the reference value P 2 has been calculated.
  • the comparator 43 compares a counted value N 1 of the counter 36 with the reference value P 1 that is provided by the processing circuit 40 and provides a detection signal SC 1 when the counted value N 1 is smaller than the reference value P 1 .
  • the comparator 44 also compares a counted value N 2 of the counter 37 with the reference value P 2 that is provided by the processing circuit 41 and provides a detection signal SC 2 when the counted value N 2 is smaller than the reference value P 2 .
  • the rotation sensor 25 that is disposed near the rotor 24 generates a signal that changes in response to the teeth 24 a on the periphery of the rotor 24 .
  • This signal is formed by the wave shaping circuit 26 into the angular signal NE that has rectangular waves.
  • the angular signal NE is sent to the frequency dividing circuit 27 to provide the up-down command signal SUD. Therefore, the frequency of the up-down command signal SUD is a half of the angular signal NE, and the level of the up-down command signal SUD changes in synchronism with the up-edges of the angular signal NE.
  • the edge signal SE 2 changes to H level
  • the counted value N 1 of the counter 36 is reset to 0.
  • the up-down command signal SUD keeps H level so that the counter 36 can count up the clock signal CLK.
  • the edge signal SE 1 changes to H level, so that the counted value N 1 of the counter 36 is latched by the latch circuit 38 .
  • the comparator 43 always compares the counted value N 1 with the reference value P 1 and provides the detection signal SC 1 if the counted value N 1 is smaller than the reference value P 1 .
  • Masking by the masking signal SM 1 is also carried out lest the detection signal is erroneously provided during the above operation.
  • the constant value K is set to 2.0.
  • the reference value P 1 becomes ⁇ NL 1 , so that N 1 ⁇ P 1 regarding the non-tooth portion never happens even if the rotation speed of the crank or cam shaft 23 abruptly decreases.
  • the counter 36 After the counter 36 changes to count down at time t 7 , no H level pulse is provided in the edge signal SE 2 (during the period from t 9 to t 10 ) due to the non-tooth portion. Therefore, the counter 36 continues to count down until the edge signal SE 2 becomes H level at time t 11 . As a result, the counted value N 1 becomes smaller than the reference value P 1 at t 10 , so that the detection signal SC 1 becomes H level, which indicates the non-tooth portion.
  • the other set of the counter 37 , the latch circuit 39 , the processing circuit 41 and the comparator 44 operates in the same manner as above.
  • the counter 37 measures the cycle period, it can not count up during the non-tooth period.
  • a pair of the counters 36 , 37 operates to complement each other.
  • the constant number K is 2.0 and the rotation speed is constant, as shown in FIGS. 3A–3D , the non-tooth portion whose tooth-pitch is larger than 1 can be detected.
  • a portion indicated by A has 1.5 tooth-pitches and a portion indicated by B has 2 tooth pitches.
  • the constant K is determined according to the rotation speed of the crank shaft or cam shaft 23 .
  • the counters 36 , 37 use the same clock signal CLK, no delay or time shift arises when each of the counters 36 , 37 changes from counting up to counting down. In other words, the shift in timing is limited within one cycle period of the clock signal CLK when the edge signals SE 1 –SE 4 are generated by the edge signal generating circuit 29 .
  • a rotation position detecting device according to the second embodiment of the invention will be described with reference to FIGS. 4–6 .
  • the same reference numeral as the precedent embodiment of this application indicates the same or substantially the same part, component or unit as the precedent embodiment.
  • a rotation position detecting device 48 a pair of processing circuits 40 , 41 instead of the processing circuits 50 , 49 of the rotation position detecting device 21 according to the first embodiment.
  • the processing circuits 49 , 50 are composed of logical circuits that operate in synchronism with the clock signal CLK, and provide masking signals SM 1 , SM 2 during operation.
  • the rotation position detecting device 48 has a pair of comparators 43 , 44 instead of the comparator 43 , 44 of the rotation position detecting device 21 .
  • the comparator 51 compares the counted value N 1 serially provided by the counter 36 with the reference value P 1 provided by the processing circuit 49 so as to provide the detection signal SC 1 if the counted value N 1 is larger than the reference value P 1 .
  • the comparator 52 also compares the counted value N 1 serially provided by the counter 37 with the reference value P 2 provided by the processing circuit 50 so as to provide the detection signal SC 2 if the counted value N 2 is larger than the reference value P 2 .
  • the processing circuit 50 receives a latched counted signal NL 1 from the latch circuit 38 when the edge signal SE 1 becomes H level at time t 23 and calculates the reference value P 2 that is equal to NL 1 ⁇ K for a period ⁇ t from t 23 to t 24 .
  • the processing circuit 49 also receives a latched counted signal NL 2 from the latch circuit 39 when the edge signal SE 2 becomes H level at time t 25 and calculates the reference value P 1 that is equal to NL 2 ⁇ K for the period ⁇ t from t 25 to t 26 .
  • the processing circuits 49 , 50 keep providing the reference values P 1 , P 2 that are calculated last time until the calculation has been completed. In other words, the processing circuits 49 , 50 provide the new reference values P 1 , P 2 as soon as the calculation is completed.
  • the comparator 51 always compares the counted value N 1 with the reference value P 1 to provide the detection signal SC 1 when the counted value N 1 is larger than the reference value P 1 .
  • the constant value K is set to 2 as the non-tooth portion has two tooth pitches. Therefore, the reference values P 1 and P 2 are respectively equal to 2 ⁇ NL 2 and 2 ⁇ NL 1 , so that N 1 ⁇ P 1 or N 2 ⁇ P 2 never occurs at the non-tooth portion even if rotation speed of the crank shaft or cam shaft 23 sharply decreases. If the rotation speed is constant at a time such as t 23 or t 25 , the counters start to count down as soon as they have counted up to NL 1 or N 12 .
  • the edge signal SE 3 does not provide a H-level pulse (e.g. at time t 29 , t 30 ) after the counter 37 is reset to count up (e.g. at time t 27 ). Therefore, the counter 37 keeps counting up until the edge signal SE 3 becomes H level. As a result, the counted value N 2 becomes larger than the reference value P 2 at time t 30 , so that the detection signal SC 2 becomes H level to detect the non-tooth portion.
  • the non-tooth portion having 1.5 tooth pitches (indicated by A) as well as the non-tooth portion having 2 tooth-pitches (indicated by B) can change the detection signal from L level to H level if the rotation speed is constant. That is, the non-tooth portion having a tooth pitch of more than 1 can be detected if the rotation speed is constant with the constant value K being 2.
  • a rotation position detecting device according to the third embodiment of the invention will be described with reference to FIGS. 7–9 .
  • the rotation position detecting device 53 includes a single up-down counter 55 , a single latch circuit 38 , a single processing circuit 50 , a single comparator as well as an edge detecting circuit 54 and an AND gate 45 to detect the non-tooth portion 24 b.
  • the edge detecting circuit 54 synchronizes with the clock signal CLK to detect up-edges of the angular signal NE and provides an edge signal SEG 0 that becomes H level when each up-edge is detected.
  • the edge detecting circuit 54 provides an edge signal SEG 1 that becomes H level a little time after the edge signal SEG 0 does.
  • the delay time is a little longer than a period in which the latch circuit 38 can latch a counted value of the counter 55 .
  • the counter 55 is an N-bit counter.
  • the latch circuit 38 latches each counted value counted by the counter 38 by the use of the edge signal SEG 0 .
  • the processing circuit 50 is formed of logical circuits that operate in synchronism with the clock signal CLK.
  • the constant value K is provided by a constant value holding circuit 42 .
  • the processing circuit 50 provides a masking signal SM 1 while it is calculating the reference value P.
  • the comparator 51 compares the counted value N with the reference value P and provides a detection signal SC 1 when the counted value N is larger than the reference value P.
  • the AND gate 45 receives the detection signal SC 1 and the masking signal SM 1 to provide a masked detection signal SC.
  • the edge signal SEG 0 becomes H level, so that the counted number of the counter 55 is latched by the latch circuit 38 .
  • the edge signal SEG 1 becomes H level, so that the counted number N of the counter 55 is reset to 0.
  • the processing circuit 50 receives the latched counted value NL from the latch circuit 38 to calculate the reference value P that is equal to NL ⁇ K in a period ⁇ t from t 41 to t 42 each time the edge signal SEG 0 becomes H level.
  • the comparator 51 always compares the counted value N with the reference value P to provide the detection signal SC whenever the counted value N is larger than the reference value P.
  • the constant value K is set to 2 as the non-tooth portion has two tooth pitches. Therefore, the reference value P is equal to 2 ⁇ NL, so that N ⁇ P never occurs at the non-tooth portion even if rotation speed of the crank shaft or cam shaft 23 sharply decreases. If the rotation speed is constant at a time such as t 43 or t 45 , the edge signal SEG 1 becomes H level as soon as the counted value N becomes NL. Therefore, the counter 55 is reset to 0, from where it starts to count up.
  • the edge signal SEG 1 does not provide a H-level pulse (e.g. at time t 49 , t 50 ) after the counter 55 is reset to count up (e.g. at time t 47 ). Therefore, the counter 55 keeps counting up until the edge signal SEG 1 becomes H level (t 1 ). As a result, the counted value N becomes larger than the reference value P at time t 50 , so that the detection signal SC becomes H level to detect the non-tooth portion.
  • the non-tooth portion having 1.5 tooth pitches (indicated by A) as well as the non-tooth portion having 2 tooth-pitches (indicated by B) can change the detection signal SC from L level to H level if the rotation speed is constant. That is, the non-tooth portion having a tooth pitch of more than 1 can be detected if the rotation speed is constant with the constant value K being 2.
  • Shift of timing is limited within a cycle period of the clock signal CLK, as the edge detecting circuit 54 provides the edge signals SEG 0 , SEG 1 in synchronism with the clock signal CLK.
  • the reset timing of the counter 55 by the edge signal SEG 1 delays from the edge of the angular signal NE (edge signal SEG 0 ) only by a holding time of the latch circuit 38 .
  • the constant value K is not limited to 2 in case that the tooth-pitch of the non-tooth portion is 2.
  • the AND gates 33 and 34 of the first and the second embodiment can be omitted because the edge signals SE 1 and SE 4 are the same and, also, the edge signals SE 2 and SE 3 are the same.
  • the AND gates 45 and 46 can be omitted if the masking is not necessary.
  • the latch circuits 38 and 39 can be also omitted if the processing circuits 40 , 41 , 49 and 50 includes a latch function.

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JP2004031944A JP4352921B2 (ja) 2004-02-09 2004-02-09 回転位置検出装置

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DE102013218954A1 (de) * 2013-09-20 2015-04-09 Continental Automotive Gmbh Verfahren und Vorrichtung zum Erfassen eines Drehwinkels eines Rotors in einem elektrischen Motor mittels Zähler mit entgegengesetzten Zählrichtungen.
JP6245052B2 (ja) * 2014-04-23 2017-12-13 株式会社デンソー 回転検出装置
JP6520059B2 (ja) * 2014-11-13 2019-05-29 日本精工株式会社 トルク測定装置付回転伝達装置
KR102059818B1 (ko) * 2017-09-28 2019-12-27 삼성전기주식회사 회전체 감지 장치

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Publication number Priority date Publication date Assignee Title
US20120292173A1 (en) * 2010-01-13 2012-11-22 Sumitomo Wiring Systems, Ltd. Movement detection device
US8659448B2 (en) * 2010-01-13 2014-02-25 Sumitomo Wiring Systems, Ltd. Movement detection device

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